From 17de59ad94787289faec6c2d578764f7311bc82a Mon Sep 17 00:00:00 2001
From: craipy <cpy_3566@163.com>
Date: Thu, 18 Jul 2024 09:45:05 +0800
Subject: [PATCH] add g1 task

---
 legged_gym/envs/__init__.py     |  3 +-
 legged_gym/envs/g1/g1_config.py | 83 +++++++++++++++++++++++++++++++++
 2 files changed, 85 insertions(+), 1 deletion(-)
 create mode 100644 legged_gym/envs/g1/g1_config.py

diff --git a/legged_gym/envs/__init__.py b/legged_gym/envs/__init__.py
index f87d9b2..ea0a900 100644
--- a/legged_gym/envs/__init__.py
+++ b/legged_gym/envs/__init__.py
@@ -3,10 +3,11 @@ from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
 
 from legged_gym.envs.go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO
 from legged_gym.envs.h1.h1_config import H1RoughCfg, H1RoughCfgPPO
+from legged_gym.envs.g1.g1_config import G1RoughCfg, G1RoughCfgPPO
 from .base.legged_robot import LeggedRobot
 
 from legged_gym.utils.task_registry import task_registry
 task_registry.register( "go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
 task_registry.register( "h1", LeggedRobot, H1RoughCfg(), H1RoughCfgPPO())
-
+task_registry.register( "g1", LeggedRobot, G1RoughCfg(), G1RoughCfgPPO())
 
diff --git a/legged_gym/envs/g1/g1_config.py b/legged_gym/envs/g1/g1_config.py
new file mode 100644
index 0000000..e21f852
--- /dev/null
+++ b/legged_gym/envs/g1/g1_config.py
@@ -0,0 +1,83 @@
+from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
+
+class G1RoughCfg( LeggedRobotCfg ):
+    class init_state( LeggedRobotCfg.init_state ):
+        pos = [0.0, 0.0, 0.8] # x,y,z [m]
+        default_joint_angles = { # = target angles [rad] when action = 0.0
+           'left_hip_yaw_joint' : 0. ,   
+           'left_hip_roll_joint' : 0,               
+           'left_hip_pitch_joint' : -0.1,         
+           'left_knee_joint' : 0.3,       
+           'left_ankle_pitch_joint' : -0.2,     
+           'left_ankle_roll_joint' : 0,     
+           'right_hip_yaw_joint' : 0., 
+           'right_hip_roll_joint' : 0, 
+           'right_hip_pitch_joint' : -0.1,                                       
+           'right_knee_joint' : 0.3,                                             
+           'right_ankle_pitch_joint': -0.2,                              
+           'right_ankle_roll_joint' : 0,       
+           'torso_joint' : 0.
+        }
+    
+    class env(LeggedRobotCfg.env):
+        num_observations = 48
+        num_actions = 12
+      
+
+    class control( LeggedRobotCfg.control ):
+        # PD Drive parameters:
+        control_type = 'P'
+          # PD Drive parameters:
+        stiffness = {'hip_yaw': 150,
+                     'hip_roll': 150,
+                     'hip_pitch': 150,
+                     'knee': 300,
+                     'ankle': 40,
+                     }  # [N*m/rad]
+        damping = {  'hip_yaw': 2,
+                     'hip_roll': 2,
+                     'hip_pitch': 2,
+                     'knee': 4,
+                     'ankle': 2,
+                     }  # [N*m/rad]  # [N*m*s/rad]
+        # action scale: target angle = actionScale * action + defaultAngle
+        action_scale = 0.25
+        # decimation: Number of control action updates @ sim DT per policy DT
+        decimation = 4
+
+    class asset( LeggedRobotCfg.asset ):
+        file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/g1/urdf/g1.urdf'
+        name = "g1"
+        foot_name = "ankle_roll"
+        penalize_contacts_on = ["hip", "knee"]
+        terminate_after_contacts_on = ["torso"]
+        self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
+        flip_visual_attachments = False
+  
+    class rewards( LeggedRobotCfg.rewards ):
+        soft_dof_pos_limit = 0.9
+        base_height_target = 0.728
+        class scales( LeggedRobotCfg.rewards.scales ):
+            tracking_lin_vel = 1.0
+            tracking_ang_vel = 0.5
+            lin_vel_z = -2.0
+            ang_vel_xy = -0.05
+            orientation = -1.0
+            base_height = -10.0
+            dof_acc = -2.5e-8
+            feet_air_time = 1.0
+            collision = 0.0
+            action_rate = -0.01
+            # torques = -0.0001
+            dof_pos_limits = -5.0
+
+class G1RoughCfgPPO( LeggedRobotCfgPPO ):
+    class policy:
+        init_noise_std = 0.8
+    class algorithm( LeggedRobotCfgPPO.algorithm ):
+        entropy_coef = 0.01
+    class runner( LeggedRobotCfgPPO.runner ):
+        run_name = ''
+        experiment_name = 'g1'
+
+